Related papers: A Backstepping control strategy for constrained te…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Multi-step dexterous manipulation is a fundamental skill in household scenarios, yet remains an underexplored area in robotics. This paper proposes a modular approach, where each step of the manipulation process is addressed with dedicated…
Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…
Design, implementation, and machine learning issues associated with developing a control system for a serpentine robotic manipulator are explored. The controller developed provides autonomous control of the serpentine robotic…
A leading concept in soft robotics actuation, as well as in microfluidics applications such as valves in lab-on-a-chip devices, is applying pressurized flow in cavities embedded within elastic bodies. Generating complex deformation patterns…
Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that limit performance in human environments. More designs have…
This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only…
We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…
Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…
Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…